Repairs Axis 2
Product Manual IRB 640 19
3.3 Replacing lower arm
Refer to foldout nos. 1 and 1:1.
Dismounting:
1. Run the lower arm to the position where it is possible to secure the arm with
screws, through the holes for the lower fixing points of the balancing spring.
2. Dismount the balancing weight for axis 3.
3. Attach a hoist to the upper arm.
4. Remove the clamps, screws <1/3.160>, <1/3.142> and lift the parallel bar away.
5. Dismount the linkage according to Chapter 5, Link system.
6. Remove the cables in the lower arm as described in Chapter 3.8, Dismounting
cables, lower arm/upper arm.
Do not remove the cables from the upper arm.
7. Dismount the upper arm as described in Chapter 4.5, Dismounting upper arm,
complete.
8. Dismount the balancing unit <1:1/1> as described in Chapter 3.5, Dismounting
balancing unit or Chapter 3.6, Replacing guiding ring, balancing unit.
8. Attach a hoist to the under arm.
9. Dismount motor and gearbox for axis 2 as described in Chapter 3.2, Replacing the
gearbox.
10. Dismount motor and gearbox for axis 3 as described in Chapter 4.2, Replacing
gearbox.
11. Remove the 2 locking screws for the lower arm and gently lift the lower arm
together with the parallel arm, straight up.
12. Dismount the parallel arm as described in Chapter 4.3, Dismounting parallel arm.
Mounting:
13. Mount the parallel arm as described in Chapter 4.3, Dismounting parallel arm.
14. Lift the lower arm with mounted parallel arm in position.
15. First mount the motor and gearbox for axis 2, as in Chapter 3.2, Replacing the
gearbox.
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